version: 66.06
glider: 148
mission: 11
dive: 94
start: 5 31 112 21 24 9
data:
$ID,148
$MISSION,11
$DIVE,94
$D_SURF,4
$D_FLARE,3
$D_TGT,500
$D_ABORT,800
$D_NO_BLEED,200
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,166
$T_MISSION,500
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,130
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52645
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2143
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,380
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-906932.5
$T_RSLEEP,5
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,420
$PITCH_MAX,3705
$C_PITCH,3120
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1.5
$ROLL_MIN,160
$ROLL_MAX,3940
$ROLL_DEG,45
$C_ROLL_DIVE,1640
$C_ROLL_CLIMB,1680
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,64
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,2900
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-11.834597
$PRESSURE_SLOPE,0.00011637
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004341084
$SEABIRD_T_H,0.00063239998
$SEABIRD_T_I,2.5339032e-05
$SEABIRD_T_J,2.8251138e-06
$SEABIRD_C_G,-9.8402824
$SEABIRD_C_H,1.0914109
$SEABIRD_C_I,9.7469172e-05
$SEABIRD_C_J,8.7214314e-05
$GPS1,211901,2221.605,-15854.788,10,1.1,27,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-71.0
$GPS2,212326,2221.628,-15854.825,11,1.1,11,9.9
$SPEED_LIMITS,0.174,0.244
$TGT_NAME,Kaena
$TGT_LATLONG,2150.000,-15821.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.244,0.008
$KALMAN_X,-219078.6,1677.1,-395.1,124777.3,-5958.9
$KALMAN_Y,-41496.3,-472.8,496.3,-841.2,3585.1
$MHEAD_RNG_PITCHd_Wd,78.2,81576,-19.0,-10.040
$D_GRID,500
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-1.34,-126.5,0.0,0.0,0,123,0.00,0.00,-102.85,0.000,2,0.000,0.000,406,1630,3202,0,0,0,0,0,0
$GC,126,-1.34,-126.5,3.3,-5.1,14,150,12.65,2.33,-4.00,0.000,4,0.153,0.045,2823,169,3417,0,0,0,0,0,0
$GC,166,0.09,-126.5,18.4,-39.3,19,175,3.38,2.28,0.00,0.000,6,0.056,0.019,3133,1635,3418,7,0,0,0,0,0
$GC,444,0.09,-126.5,59.7,-13.7,48,448,0.00,2.45,0.00,0.000,4,0.000,0.026,3133,3214,3419,0,0,0,0,0,0
$GC,488,-0.04,-126.5,64.2,-9.8,51,492,0.00,2.47,0.00,0.000,6,0.000,0.028,3133,1650,3419,0,0,0,0,0,0
$GC,757,-0.04,-126.5,89.6,-9.4,75,761,0.00,2.35,0.00,0.000,4,0.000,0.041,3133,176,3418,0,0,0,0,0,0
$GC,792,-0.04,-126.5,94.0,-10.4,78,796,0.00,2.25,0.00,0.000,6,0.000,0.018,3133,1667,3419,0,0,0,0,0,0
$GC,1064,-0.04,-126.5,117.0,-8.3,103,1069,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,1670,3419,0,0,0,0,0,0
$GC,1328,-0.11,-126.5,139.0,-8.0,128,1329,0.15,0.00,0.00,0.000,6,0.054,0.000,3055,1671,3419,0,0,0,0,0,0
$GC,1583,0.04,-126.5,169.0,-11.4,152,1589,0.32,0.00,0.00,0.000,6,0.095,0.000,3126,1670,3419,0,0,0,0,0,0
$GC,1847,-0.07,-126.5,190.5,-8.2,177,1851,0.00,2.42,0.00,0.000,4,0.000,0.049,3126,176,3419,0,0,0,0,0,0
$GC,1905,-0.22,-126.5,195.8,-9.2,182,1915,2.55,2.22,0.00,0.000,6,0.004,0.018,3015,1658,3418,8,0,0,0,0,0
$GC,2191,-0.02,-126.5,238.8,-15.5,192,2196,0.40,2.40,0.00,0.000,4,0.094,0.023,3107,3210,3418,0,0,0,0,0,0
$GC,2203,0.13,-126.5,240.5,-15.3,192,2227,15.70,2.45,0.00,0.000,6,0.002,0.024,3107,1640,3418,52,1,0,0,0,0
$STATE,2231,end dive,MOTOR_MAX_ERRORS_EXCEEDED
$SM_CCo,2247,579.97,0.604,1,0,510,586.02
$SM_GC,0.58,15.82,0.00,0.00,0.006,0.000,0.000,2525,1637,491,-2.74,-1.22,590.93
$IRIDIUM_FIX,2216.01,-15853.90,250801,212147
$TT8_MAMPS,0.026845
$HUMID,66.14
$INTERNAL_PRESSURE,9.34993
$TCM_TEMP,23.30
$XPDR_PINGS,24
$24V_AH,23.8,13.427
$10V_AH,10.0,8.708
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,50.975,23.625,0.000,579.975,0.000,0.000,0.000,0.000,6.000,0.000,13.108,468.433,3588.427,684.723,701.266,89.390,33.346,990.800,0.000,710.643,0.000,0.539,0.000
$DEVICE_MAMPS,152.633,49.088,0.000,604.396,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,129.250,149.249,191.149,298.129,524.479,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356064
$DATA_FILE_SIZE,13146,193
$CAP_FILE_SIZE,53864,16
$CFSIZE,260165632,168505344
$ERRORS,0,0,0,0,0,0,0,0,2,0,0,114,0,1,0
$EOP_CODE,MOTOR_MAX_ERRORS_EXCEEDED
$RECOV_CODE,MAX_PITCH_ERRORS
$SM_CCo,5577,0.00,0.000,0,0,490,590.93
$SM_GC,1.35,8.38,0.00,0.00,0.020,0.000,0.000,408,1639,490,-12.39,-1.19,590.93
$GPS,310512,225752,2221.607,-15855.015,8,2.4,27,9.9